#pragma once

#include <core/task.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>

#include <general_interface/msg/chassis_servo.hpp>
/*
 * BalanceTask
 */
class BalanceTask : public Task
{
  private:
    rclcpp::Publisher<general_interface::msg::ChassisServo>::SharedPtr cs_pub;

  public:
    BalanceTask(std::shared_ptr<Context> context);
    bool OnInit() override;
    int OnStep(double &precent) override;
    bool OnCancle() override;
};